JPH06213669A - Calibration method for set value of coordinate system of inertia reference device of moving body - Google Patents

Abstract

PURPOSE:To provide a calibration method for a set value of each axis of coordinate system of an inertia reference device of a moving body in which setting of initial values of the coordinate system of the inertia reference device of the moving body can be omitted, and the method can be carried out without necessity of providing a new special means in the moving body. CONSTITUTION:The moved course Tr after beginning of flight of a moving body 16 is observed by measuring means 12, 20 provided on known points agaist the moving base point 14 of the moving body 16, Pso. The angle data of respective axes of the coordinate system of an inertia reference device 18 in a missile is obtained by the position Pm of the moving body 16 on reference navigation coordinates at observation from the observed orbit Tr of the moving body 16 on the reference navigation coordinate system, and the obtained angle data are input to the same inertia reference device 18 as set values concerning respective axes through a correspondence means, so as to renew the set values of the last time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for setting an initial value of a coordinate system of an inertial reference device for navigation provided on an unmanned vehicle which flies and moves from a fixed moving base point, and more particularly to a ship or a ship. Set the setting values for each axis of the coordinate system of the inertial reference device of a moving body such as a missile, torpedo, or unmanned aerial vehicle that moves from the aircraft as a moving base to a destination on the reference navigation coordinates by flight or navigation. Instead of initial setting at the movement base point, by sequentially updating and setting during movement,
The present invention relates to a method of calibrating a set value of an inertial device coordinate system in a moving body that can be equivalent to setting an accurate initial value.

[0002]

2. Description of the Related Art A missile which is launched from a moving body, for example, a missile launch ship or an aircraft, can fly to a destination according to a predetermined program or a moving route, and the missile itself has an inertia reference device. Then, it moves to the destination point while correcting the deviation from the regular movement path (trajectory) from the movement base point with time. Therefore, for example, when the north slave local horizontal coordinate system (X: north, Y: east, Z: vertical direction lower side) is used as the reference navigation coordinate system, the normal movement route is commanded by this reference navigation coordinate system. For this reason, it is necessary that the initial value of the coordinate system of the inertial reference device of the missile, which is a moving body, with respect to the same reference navigation coordinate is set accurately.

The initial value of the coordinate system of the conventional inertial reference device for a moving body is set by detecting the method of earth rotation angular velocity and gravity by the gyroscope and the accelerometer which are the inertial detection elements of the inertial reference device, and the reference navigation is performed. A method of setting an initial value for the coordinate system (this is usually called a self-reference setting method) is taken, or the velocity and / or position of the mobile body with respect to the reference navigation coordinate system is measured on the same mobile body. And measuring the velocity and / or position of the moving body by using a means, and comparing the obtained measuring data with the velocity and / or position data obtained from the inertial reference device of the moving body. By doing so, the deviation of the coordinate system of the inertial reference device is obtained, and the initial value of the coordinate system of the inertial reference device of the moving body is calculated and set from the calculated deviation value Two methods referred to as a location reference setting method) it has been taken roughly.

[0004]

However, in the former conventional method, it is necessary that the moving body is substantially stationary with respect to the navigation coordinate system, and further, sufficient time for setting the initial value is required. is necessary. Therefore, it is difficult to apply this conventional method to the initial value setting of the coordinate system of the inertial reference device of the missile, which is absolutely required to have a short preparation time.

On the other hand, the latter method does not require a preparation time in a substantially stationary state on the navigation coordinate system, but it is necessary to equip a moving body with measuring means such as Doppler radar, GPS and star sensor. Therefore, the missile, which is inevitably a moving body, requires a storage space for these measuring means, which causes a problem that the size and weight increase considerably. Therefore, there is still a demand for development of means and methods capable of solving such problems.

Therefore, the main object of the present invention is to omit the setting of the initial value of the coordinate system of the inertial reference device of the moving body to instantly start the movement, and without the need to separately provide a special new means. It is intended to provide a method of calibrating the set value of each axis of the coordinate system of the inertial reference device of a mobile body which can be performed.

Another object of the present invention is to measure the initial value of the coordinate system of the inertial reference device incorporated in the moving body without increasing the size, weight, etc. of the moving body from the present scale, and to measure the external existing measurement. The aim is to provide a way to carry out by making full use of means. Still another object of the present invention is to make it possible to set an initial value of a coordinate system of an inertial reference device included in the moving body during the movement after the moving body is started, so that the coordinate system at the time when the moving body starts moving. An object of the present invention is to provide a method for calibrating the set value of each axis of the coordinate system of the inertial reference device of a moving body, which makes it possible to substantially zero the time required for setting the initial value.

[0008]

Means for Solving the Problems The present invention provides a measuring means provided at a known point with respect to a moving base point of a moving body, for example, when a missile is launched from a missile launch ship or an aircraft and moves in flight, The trajectory of the missile is measured after the start of flight of the missile using the radar that is permanently installed in the missile launcher and the aircraft, and the inertial reference device of the ship and the aircraft itself, and the orbit data of the missile in the measured reference navigation coordinate system. From the position in the reference navigation coordinates at the time of actual measurement, the data of each axis of the coordinate system of the inertial reference device of the missile is obtained, and the obtained data is input as a set value for each axis to the inertial reference device of the missile by communication means, This is to update and set the previously set value.

That is, according to the present invention, in a method of calibrating a set value of a coordinate system of an inertial reference device provided in a moving body that moves by a flight or a navigation from a moving base point in the reference navigation coordinate system, The position of the moving route of the moving body over time, which is measured by the route measuring means provided at a predetermined known point with respect to the moving base point, of the moving route within the navigation coordinates during movement, and which is measured by the route measuring means. Based on the data, the setting value of each axis of the coordinate system of the inertial reference device included in the moving body in the reference navigation coordinate system is obtained, and the setting value of each axis of the obtained coordinate system is obtained via the wireless communication means. It is input to the inertia reference device of the moving body, and the previous setting value is updated by the set value of each axis in the coordinate system of the inertia reference device of the moving body that has been input, whereby the inertia of the moving body in the reference navigation coordinate system is updated. There is provided a set value calibration method for inertial reference unit coordinate system in a moving body the set value of the coordinate system of quasi-devices to sequentially calibrated from the initial value. Hereinafter, the present invention will be described in detail based on the embodiments shown in the accompanying drawings.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an example of applying the method for calibrating the set value of the inertial reference device coordinate system in a moving body according to the present invention, when a missile which is a moving body is launched from a missile launching ship which is a moving mother. 2 is a schematic explanatory view illustrating an embodiment in which the radar and the inertial reference device of the missile launcher are used as missile trajectory measuring means in calibrating the set values of the axes of the coordinate system of the inertial reference device of the missile, FIG.
FIG. 3 is a graph diagram for explaining the calibration of the set value of the azimuth axis of the missile inertial device in the same embodiment, and FIGS. 3 to 6 are diagrams for explaining a moving body according to another embodiment to which the present invention can be applied. Is.

In FIG. 1, a missile launch ship 10 is equipped with an inertial reference device (SINS) 12 for navigation. The inertial reference device 12 is a navigation coordinate system of the ship 10, for example, latitude on the earth, The control device outputs the navigation data by measuring the position, speed, and attitude azimuth (direction of the front-back axis of the ship 10) of the ship 10 in a standard navigation coordinate system having longitude and local horizontal true north as axes. It is configured to perform the operation 22 to obtain the ship maneuvering data. The SINS 12 serves as a reference for the attitude and azimuth of the radar device 20 installed on the deck of the missile ship 10 and for the missile 16 launched from the missile launch tower 14.

The missile 16 has an inertial reference device (MINS) 18 for the missile itself, and the MINS 18 also has a coordinate system. In other words, the coordinate system of the MINS 18 and SI of the ship 10
If there is a 1: 1 complete relationship with the reference navigation coordinate system, which is the NS 12 coordinate system, then the missile 16 can be considered to be flying in the reference navigation coordinate system.

The missile 16 is launched from the launch tower 14 of the missile launch ship 10 and has an inertial reference device 18 that the missile 16 has.
According to the output data of, the aircraft will make an inertial cruise to the target arrival point. At this time, generally, each axis of the coordinate system of the MINS 18 needs to be initialized with respect to the reference navigation coordinate system. However, in the present invention, in the initial process of launching the missile 16, at a desired time. Initialization is not performed while maintaining the setting values of each axis of the coordinate system at that time so that the object is immediately fired. Therefore, at first, turn on only the power,
It establishes a method for sequentially calibrating and updating the set values of each axis of the MINS 18 from the set values at the time of initial movement in the process after the start of flight by launching.

That is, in the present invention, the missile launch ship 10
The radar device 20 included in the control unit 2 measures the distance, the azimuth angle (Ψ), and the depression angle (θ) of the missile 16 launched from the launch tower 14 with respect to the ship 10 over time.
The data of the measurement result is sent to 2. On the other hand, at this point, the SINS 12 of the ship 10 detects the attitude and azimuth of the ship 10 and sends it to the control device 22 every moment. Therefore, the control device 22 uses the measurement data of the radar device 20 as SINS12.
And detection data of the missile 16 in the reference navigation coordinate system are obtained from the received measurement data and detection data. In other words, it is possible to obtain data as to where the missile 16 is flying over time.

Here, in order to simplify the explanation, based on the orbital data of the missile 16 described above, the missile 1
Calibrate the set value of the azimuth axis in the coordinate system of 6 MINS 18
I will explain how to update. Referring to FIG. 2, the trajectory of the missile 16 flying from the missile launch ship 10 is now measured based on the measurement by the radar device 20, and as shown in the figure, trajectory data from the movement base point Ps0 (for simplification of explanation) Therefore, it is assumed that a straight line) is obtained as a line Tr (the position at that time is Pm). This orbital data T
At position Pm on r, the missile 16
Flight direction is Ψm0 to the north in the reference navigation coordinate system.
And is calculated. That is, the value at that time of the measurement angle Ψ of the azimuth axis measured by the MINS 18 of the missile 16 should originally be Ψm0.
Here, the navigation coordinate system (horizontal plane) at the time of launching the missile (position Ps0) detected by the SINS 12 of the ship 10 is shown as well as the north and east of FIG.

Therefore, assuming that the value of the azimuth angle Ψ that the azimuth axis of the MINS 18 has continued at the measurement time point Pm is Ψm,
The set value is set to Ψm0 by calibrating and correcting for Ψm0−Ψm. At this time, in the present invention, the data link communication means included in the missile launch ship 10 inputs the angle data Ψm0 of the azimuth axis to the MINS 18. The orbit of the missile 16 is a straight line from the description of the graph, but it should not be a straight line.
By repeating the calibration and update setting process, the missile 16 is directed to the target point by inertial navigation.

In the above explanation, when the missile 16 having the MINS 18 from the missile launch ship 10 forming the moving mother body flies as a moving body, the method of calibrating and updating the set value of the coordinate system of the MINS 18 is described. Although the axes have been described, the axis setting values are similarly calibrated and updated for the other two axes (pitch axis and roll axis). In this case, the pitch axis is the flight distance component of the flight distance obtained from the MINS 18, and the roll axis is the component of the flight distance obtained from the MINS 18 which is orthogonal to the in-horizontal movement direction of the missile obtained from the radar device 60. Compare with distance.

1 and 2 show a missile launch ship 10
Although the description has been given based on the embodiment in which the missile 16 is launched from the above, FIG. 3 shows a case where the radar device 40 measures the missile 16 launched from the missile launch tower 34 on the ground and the control device obtains the missile trajectory. , The standard navigation coordinates are
A fixed coordinate system on the ground surface is used.

In FIG. 4, similarly, the aircraft 50 is used as a moving base, the trajectory Tr1 of the missile 56 is obtained based on the SINS 52, the control device 54, and the radar device 60 of the aircraft 50, and the coordinate system of the MINS 58 of the missile 56 is obtained. An example is shown in which calibration and updating of set values are performed by data link. Figure 5
The submarine 70 has the SINS 72 and the sonar 74 as the measuring means of the trajectory Tr2 of the torpedo 76, and the MINS of the torpedo 76.
It is illustrated that the method of the present invention can be applied to an embodiment for calibrating and updating the settings of 78 coordinate systems. FIG. 6 shows the inertial reference device 88 of the unmanned aerial vehicle 80, which is in the coordinate system of the inertial reference device 80 when flying from the ground, and does not perform initialization at the start of the flight, and the radar device on the ground during the flight. In this example, the flight trajectory is measured from 90, and each axis is set in the coordinate system of the inertial reference device 88 of the aircraft 80, as described above.

As is clear from the above description, according to the present invention, basically, at the time of starting the movement of the moving body, the initial value of the coordinate system of the inertial reference device of the moving body is not set and the moving body is moved during the movement. Measure the trajectory of the moving body with an external measuring means, and from the trajectory data, set the values for each axis of the inertial reference device of the moving body from the first set value, and calibrate and update the points. As a feature, it can be applied as a very effective calibration method for the set value of the coordinate system for missiles, etc. that require swiftness because the axis setting time of the coordinate system of the inertial reference device can be zero at the time of initial movement. is there.

[0021]

As described above, according to the present invention, there is provided a method for calibrating the set value of the coordinate system of the inertial reference device included in the moving body that moves by the flight or the navigation from the movement base point in the reference navigation coordinate system. , The time course of the moving body in the navigation coordinates during movement of the moving body is measured by a route measuring means provided at a predetermined known point with respect to the moving base point, and the moving body's time course measured by the route measuring means is measured. Setting values for each axis of the coordinate system of the inertial reference device included in the moving body in the reference navigation coordinate system, and the setting values for each axis of the obtained coordinate system are wirelessly communicated. Input to the inertia reference device of the moving body via means, the previous setting value is updated by the set value of each axis in the coordinate system of the inertia reference device of the moving body input, thereby, in the reference navigation coordinate system Since the set values of the coordinate system of the inertial reference device of the moving body are sequentially calibrated from the initial values, it is possible to obtain the set value of the axis angle in each axis of the inertial reference device of the moving body outside the moving body. Therefore, since it is not necessary to mount a new means on the moving body, there is no disadvantage such as an increase in weight, and the moving body is the mother ship, the mother machine,
It is possible to eliminate almost all the time required for setting the initial value of the inertia reference device of the mobile body at the time of starting the flight movement or the navigation movement of the mobile body at the base or the like.

Therefore, it is extremely effective in the case of a mobile body such as a missile that is required to be fired by an instantaneous preparation time, and the point that the set value can be updated sequentially in the course of movement is the purpose of the missile. The effect is great in that the accuracy of reaching the point can also be improved.

[Brief description of drawings]

FIG. 1 is a diagram illustrating an example of applying a method for calibrating a set value of an inertial reference device coordinate system in a moving body according to the present invention. When a missile that is a moving body is launched from a missile launching ship that is a moving mother body, the missile is FIG. 9 is a schematic explanatory diagram illustrating an example in which the radar and the inertial reference device of the missile launcher are used as missile trajectory measuring means when calibrating the setting values of the axes of the coordinate system of the inertial reference device.

FIG. 2 is a graph for explaining the calibration of the set value of the azimuth axis of the missile inertial device in the embodiment.

FIG. 3 is a schematic mechanism view showing another embodiment to which the present invention can be applied.

FIG. 4 is a schematic mechanism view showing still another embodiment to which the present invention can be applied.

FIG. 5 is a schematic mechanism view showing still another embodiment to which the present invention can be applied.

FIG. 6 is a schematic mechanism view showing another embodiment to which the present invention can be applied.

[Explanation of symbols]

 10 ... Missile launch ship 12 ... SINS 14 ... Missile launch tower 16 ... Missile 18 ... MINS 20 ... Radar device 22 ... Control device

Claims (3)

[Claims] 1. A method for calibrating a set value of a coordinate system of an inertial reference device included in a moving body that moves by flight or navigation from a moving base point in the reference navigation coordinate system, wherein The moving path over time is measured by a path measuring means provided at a predetermined known point with respect to the moving base point, and based on the position data of the moving path over time of the moving body measured by the path measuring means, a reference The setting values of the axes of the coordinate system of the inertial reference device included in the moving body in the navigation coordinate system are obtained, and the obtained setting values of the axes of the coordinate system are sent to the inertial reference device of the moving body via wireless communication means. The previous set value is updated by the set value of each axis in the coordinate system of the inertial reference device of the moving body that has been input, so that the coordinate system of the inertial reference device of the moving body in the reference navigation coordinate system is updated. Setpoint calibration method for inertial reference unit coordinate system in a mobile, characterized in that the value was set to sequentially calibrated from the initial value. 2. The moving base point is a moving base body on which the moving body flies or travels, and the radar provided on the moving base body and an inertial reference device for moving the base body are used as the route measuring means for the passage of time. The method for calibrating a set value of an inertial reference device coordinate system in an inertial reference device for a moving body according to claim 1, wherein the dynamic movement path is measured. 3. The inertial reference device coordinate system in a moving body according to claim 1, wherein the updating of the set value is repeated during movement of the moving body, and the initial value is repeatedly updated. Setting value calibration method.